EP3299131A4 - Dispositif de diagnostic de défaillance et procédé de diagnostic de défaillance - Google Patents

Dispositif de diagnostic de défaillance et procédé de diagnostic de défaillance Download PDF

Info

Publication number
EP3299131A4
EP3299131A4 EP15892588.3A EP15892588A EP3299131A4 EP 3299131 A4 EP3299131 A4 EP 3299131A4 EP 15892588 A EP15892588 A EP 15892588A EP 3299131 A4 EP3299131 A4 EP 3299131A4
Authority
EP
European Patent Office
Prior art keywords
failure diagnostic
diagnostic device
diagnostic method
failure
diagnostic
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP15892588.3A
Other languages
German (de)
English (en)
Other versions
EP3299131A1 (fr
EP3299131B1 (fr
Inventor
Toshiyuki Shimizu
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nissan Motor Co Ltd
Original Assignee
Nissan Motor Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Nissan Motor Co Ltd filed Critical Nissan Motor Co Ltd
Publication of EP3299131A1 publication Critical patent/EP3299131A1/fr
Publication of EP3299131A4 publication Critical patent/EP3299131A4/fr
Application granted granted Critical
Publication of EP3299131B1 publication Critical patent/EP3299131B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0095—Means or methods for testing manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/0061—Force sensors associated with industrial machines or actuators
    • G01L5/0076—Force sensors associated with manufacturing machines
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37214—Detect failed machine component, machine performance degradation
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37344—Torque, thrust, twist, machining force measurement
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39355—Observer, disturbance observer
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39412—Diagnostic of robot, estimation of parameters
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41372—Force estimator using disturbance estimator observer

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
EP15892588.3A 2015-05-20 2015-05-20 Dispositif de diagnostic de défaillance et procédé de diagnostic de défaillance Active EP3299131B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2015/064505 WO2016185589A1 (fr) 2015-05-20 2015-05-20 Dispositif de diagnostic de défaillance et procédé de diagnostic de défaillance

Publications (3)

Publication Number Publication Date
EP3299131A1 EP3299131A1 (fr) 2018-03-28
EP3299131A4 true EP3299131A4 (fr) 2018-07-04
EP3299131B1 EP3299131B1 (fr) 2021-06-23

Family

ID=57319609

Family Applications (1)

Application Number Title Priority Date Filing Date
EP15892588.3A Active EP3299131B1 (fr) 2015-05-20 2015-05-20 Dispositif de diagnostic de défaillance et procédé de diagnostic de défaillance

Country Status (10)

Country Link
US (1) US10946523B2 (fr)
EP (1) EP3299131B1 (fr)
KR (1) KR102024454B1 (fr)
CN (1) CN107614213B (fr)
BR (1) BR112017024615B1 (fr)
CA (1) CA2986207C (fr)
MX (1) MX2017014256A (fr)
MY (1) MY196467A (fr)
RU (1) RU2687114C1 (fr)
WO (1) WO2016185589A1 (fr)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU2682195C1 (ru) * 2015-05-21 2019-03-15 Ниссан Мотор Ко., Лтд. Устройство диагностики неисправностей и способ диагностики неисправностей
CN107696034A (zh) * 2017-09-30 2018-02-16 东北大学 一种针对工业机器人的错误自主恢复方法
JP6677694B2 (ja) * 2017-10-31 2020-04-08 ファナック株式会社 ロボットシステム
CN112534236B (zh) * 2018-08-06 2023-03-24 日产自动车株式会社 异常诊断装置和异常诊断方法
KR102254934B1 (ko) * 2019-07-30 2021-05-25 한국생산기술연구원 로봇 관절부 고장진단 방법 및 이를 적용한 로봇 관절부 고장 진단 시스템

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5418440A (en) * 1993-03-31 1995-05-23 Nec Corporation Position control device for servomotor
JPH11282540A (ja) * 1998-03-30 1999-10-15 Matsushita Electric Ind Co Ltd ロボットの制御装置とその制御方法

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Publication number Priority date Publication date Assignee Title
SU1536357A1 (ru) * 1988-02-29 1990-01-15 Горьковский Политехнический Институт Устройство дл диагностики неисправностей технических объектов
US5304906A (en) * 1989-12-26 1994-04-19 Fanuc Ltd. Collision detecting method using an observer
JPH07121239A (ja) * 1993-10-27 1995-05-12 Hitachi Zosen Corp ロボット装置の制御方法
JPH0866893A (ja) * 1994-08-24 1996-03-12 Fanuc Ltd 衝突検出方法
JP3623582B2 (ja) * 1995-12-25 2005-02-23 ファナック株式会社 ロボットの故障診断方法
GB2318093A (en) * 1996-10-14 1998-04-15 Esselte Nv A tape printing apparatus having two modes of operation
JPH11291190A (ja) * 1998-04-10 1999-10-26 Nachi Fujikoshi Corp 溶接ロボットの動作異常検出方法
JP3441680B2 (ja) * 1999-07-28 2003-09-02 ファナック株式会社 射出成形機のエジェクタ制御装置
JP2006263916A (ja) * 2001-05-08 2006-10-05 Mitsubishi Electric Corp ロボット制御装置
JP2006281421A (ja) * 2005-04-05 2006-10-19 Yaskawa Electric Corp ロボットおよびロボットの異常検出方法
KR101322434B1 (ko) * 2005-07-11 2013-10-28 브룩스 오토메이션 인코퍼레이티드 지능형 상태 감시 및 결함 진단 시스템
JP4112594B2 (ja) * 2006-07-27 2008-07-02 ファナック株式会社 減速機異常診断方法及び減速機異常診断装置
EP1935577A1 (fr) * 2006-12-21 2008-06-25 Abb Ab Système de commande pour contrôler un robot industriel
JP2008183680A (ja) * 2007-01-31 2008-08-14 Yaskawa Electric Corp 負荷機械の制御装置とその衝突検出しきい値更新方法
US20090088625A1 (en) * 2007-10-01 2009-04-02 Kenneth Oosting Photonic Based Non-Invasive Surgery System That Includes Automated Cell Control and Eradication Via Pre-Calculated Feed-Forward Control Plus Image Feedback Control For Targeted Energy Delivery
JP4335286B2 (ja) * 2008-02-08 2009-09-30 ファナック株式会社 部品保護機能を備えたロボット制御装置及びロボット制御方法
CN101369800B (zh) * 2008-10-09 2012-02-29 东元总合科技（杭州）有限公司 电动机控制装置
US8378254B2 (en) * 2009-09-11 2013-02-19 Honda Motor Co., Ltd. Adaptive vehicle manufacturing system and method
CN102554939B (zh) * 2010-12-30 2014-12-10 沈阳新松机器人自动化股份有限公司 工业机器人碰撞保护方法和装置
JP5912683B2 (ja) * 2012-03-07 2016-04-27 株式会社神戸製鋼所 モータ駆動構造を備えたシステム、モータ駆動構造のシステムに用いられるプログラム、および溶接物製造方法

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5418440A (en) * 1993-03-31 1995-05-23 Nec Corporation Position control device for servomotor
JPH11282540A (ja) * 1998-03-30 1999-10-15 Matsushita Electric Ind Co Ltd ロボットの制御装置とその制御方法

Also Published As

Publication number Publication date
EP3299131A1 (fr) 2018-03-28
EP3299131B1 (fr) 2021-06-23
MY196467A (en) 2023-04-12
KR102024454B1 (ko) 2019-09-23
KR20180008576A (ko) 2018-01-24
CN107614213B (zh) 2021-03-09
CA2986207A1 (fr) 2016-11-24
RU2687114C1 (ru) 2019-05-07
WO2016185589A1 (fr) 2016-11-24
MX2017014256A (es) 2018-04-20
CN107614213A (zh) 2018-01-19
CA2986207C (fr) 2021-11-23
US20180133897A1 (en) 2018-05-17
BR112017024615A2 (pt) 2018-07-31
US10946523B2 (en) 2021-03-16
BR112017024615B1 (pt) 2022-05-31

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